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6836121e29bcc0717aae74072c29ad726597daab
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Author SHA1 Message Date
erwincoumans
6836121e29 Merge pull request #425 from erwincoumans/master 
implement preliminary CMD_SEND_DESIRED_STATE with CONTROL_MODE_VELOCI…
 2015-07-14 10:09:37 -07:00
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2e0da2b7a1 Merge remote-tracking branch 'bp/master' 2015-07-14 09:02:11 -07:00
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482f31597b implement preliminary CMD_SEND_DESIRED_STATE with CONTROL_MODE_VELOCITY and 
CONTROL_MODE_TORQUE.
 2015-07-14 08:34:02 -07:00
erwincoumans
70837d2d0b Merge pull request #424 from erwincoumans/master 
some improvements for ExampleBrowser (--demo-name="Basic Example, shared memory experiment etc)
 2015-07-12 15:09:28 -07:00
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a7fc45410b enable addition of examples at run-time 2015-07-12 14:58:31 -07:00
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1b9eedd026 make btMultiBody destructor virtual (public github commit) 2015-07-12 14:56:47 -07:00
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de9329ce0a Add --demo-name=NAME option to start specific demo. (public github commit) 
For example,

  $ App_ExampleBrowser_gmake_x64_release --demo-name="Physics Server"

this command starts Physics Server demo regardless of bulletDemo.txt.
 2015-07-12 14:51:08 -07:00
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7452df0964 Pass initial position and orientation for CMD_LOAD_URDF. (public github commit) 2015-07-12 14:48:43 -07:00
erwincoumans
51ec862582 Merge pull request #421 from erwincoumans/master 
fix shadowmap crash on some Intel GPUs, see https://github.com/bullet…
 2015-07-12 14:17:56 -07:00
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95eff08c51 fix 'binserver' to 'bin' for premake targetdir 2015-07-10 22:31:05 -07:00
erwincoumans
6c9ce344ea fix shadowmap crash on some Intel GPUs, see https://github.com/bulletphysics/bullet3/issues/4 
remove targetdir from all libraries in premake, so it is much easier to create a separate folder for all binary+lib
transmit the serialized btMultiBody data back from server to client, after the server loads a URDF file. This includes base+link+joint names
tweak the serialization routines, so it is easier to skip pointers and to serialize directly to a shared memory buffer
also tweak the serialization code to allow to process data without 'DNA' schema data (assuming file-DNA = memory DNA)
 2015-07-10 22:20:06 -07:00
erwincoumans
ae3e392b69 Merge pull request #420 from erwincoumans/master 
some work towards streaming Bullet data over shared memory for client…
 2015-07-09 18:19:59 -07:00
erwincoumans
f6f76901fd First draft of btMultiBody serialization, including optional names for base, link and joints (see ImportURDFDemo/ImportURDFSetup.cpp how this is done) 
Bump up version number to 2.84 because of new serialization data.
 2015-07-09 17:36:00 -07:00
erwincoumans
285ac286fa some work towards streaming Bullet data over shared memory for client/server 2015-07-09 14:04:58 -07:00
erwincoumans
c293c3df8f Update btQuickprof.cpp 2015-07-08 23:22:41 -07:00
erwincoumans
4366070611 Update btQuickprof.cpp 
deal with Windows XP users, see https://github.com/bulletphysics/bullet3/issues/289#issuecomment-119133169
 2015-07-08 22:28:20 -07:00
erwincoumans
187edd7a66 Merge pull request #419 from erwincoumans/master 
add forceFixedBase option for URDF import example
 2015-07-07 16:17:10 -07:00
Erwin Coumans
7f4beba7ee add forceFixedBase option for URDF import example 2015-07-07 15:39:36 -07:00
erwincoumans
b2fc337544 Merge pull request #418 from erwincoumans/master 
expose btMultiBodyConstraint applied impulse (force) on its degree of…
 2015-07-07 09:01:55 -07:00
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272ffeb232 add example for btMultiBody constraint and joint feedback 2015-07-07 08:32:02 -07:00
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3431773800 expose btMultiBodyConstraint applied impulse (force) on its degree of freedom(s), 
only tested for btMultiBodyJointMotor for now.
See also MultiBody/MultiBodyConstraintFeedback example
 2015-07-06 23:00:46 -07:00
erwincoumans
7ef36ea8b9 Merge pull request #417 from erwincoumans/master 
apply newForceTorque.diff patch: it will allow to report
 2015-07-06 16:54:16 -07:00
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33b0d429ba apply newForceTorque.diff patch: it will allow to report 
joint reaction force/torque, while using impulse-based response
for btMultiBody
 2015-07-06 16:40:09 -07:00
erwincoumans
841a7fcd88 Merge pull request #415 from erwincoumans/master 
fix various warning
 2015-07-03 19:01:33 -07:00
erwincoumans
4630d0abb1 fix windows build for b3ResourcePath 
replace print -> b3Printf in URDF2Bullet.cpp
 2015-07-03 18:54:41 -07:00
Erwin Coumans (Google)
8517e85b21 fix various warning 
add b3ResourcePath utility, to locate resources relative to executable
 2015-07-03 18:17:14 -07:00
erwincoumans
4a9441c5fd Merge pull request #414 from erwincoumans/master 
add alternative URDF parser that doens't use ROS urdf
 2015-07-02 11:30:06 -07:00
Erwin Coumans
45d4816c44 fix case-sensitivity issue 2015-07-01 08:58:14 -07:00
erwincoumans
e7bafbc71c make Bullet URDF parser more similar to the ROS URDF parser. There is still a difference in ordering of links, 
due to the use of different hash-map implementations, with a difference in iterator order
(btHashMap versus std::hashmap)
 2015-06-29 21:30:44 -07:00
Erwin Coumans
3fbe9f63ef more case-sensitivity fixes 2015-06-28 22:12:59 -07:00
Erwin Coumans
5d44d596ed fix build system (case sensitive filename) 2015-06-28 22:00:03 -07:00
Erwin Coumans
f8add8bba0 fixes in build system for URDF parser 2015-06-28 21:21:57 -07:00
Erwin Coumans
039174a809 add alternative URDF parser that doens't use ROS urdf 2015-06-28 14:09:21 -07:00
erwincoumans
3da6763371 Merge pull request #411 from erwincoumans/master 
more work on btMultiBody joint force/torque feedback, velocity target control for rigid body urdf importer
 2015-06-26 13:00:38 -07:00
Erwin Coumans
bc8b95dd9d remove some warnings 2015-06-26 12:59:48 -07:00
erwin coumans
3b4ad1cd5a add the option to shift the applied force/torque for a multibody joint (mobilizer) to the joint frame origin 2015-06-25 15:09:35 -07:00
Erwin Coumans
6a282601cf Merge remote-tracking branch 'bp/master' 2015-06-24 23:46:54 -07:00
Erwin Coumans
bdab994208 re-enable gravity for import urdf demo (accidently turned it off for debugging) 2015-06-24 23:27:50 -07:00
Erwin Coumans
d830681674 add option for rigid body/typed constraint to set target velocity 
compare joint feedback between multi body and rigid body. initial results are promising (not exactly the same, but reasonably close)
 2015-06-24 23:19:00 -07:00
erwin coumans
b14afba350 more work-in-progress on joint-torque sensor sample and server/client shared memory API 2015-06-22 15:30:57 -07:00
Erwin Coumans
4688540a98 minor update for shared memory interface 2015-06-21 13:24:36 -07:00
erwincoumans
0a086c8492 Merge pull request #410 from erwincoumans/master 
support joint force/torque feedback for btMultiBody internal joints (mobilizers)
 2015-06-20 21:43:32 -07:00
erwin coumans
6e9eb13235 implement joint reaction forces for mobilizer motor/limit, by passing the constraint forces as 'external forces' and going through the Articulated Body Algorithm 
minor refactor for forwardKinematics, store the cached world transform in each btMultiBody::link
 2015-06-19 15:51:24 -07:00
erwincoumans
89edc40d61 First step in btMultiBody joint force/torque feedback. There is still some work to be done for 'mobilizer limit/motor'. 
See examples/MultiBody/TestJointTorqueSetup and examples/Constraints/TestHingeTorque for joint feedback.
 2015-06-19 09:18:27 -07:00
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41aa58560b add TestHingeTorque example using btRigidBody and btHingeConstraint, setup is similar to TestJointTorque using btMultiBody and a revolute joint. 2015-06-15 23:12:29 -07:00
erwincoumans
1fa4819afc Merge pull request #408 from erwincoumans/master 
more work on shared memory example (still preliminary), and fix of infinite recursion in 'getMargin'
 2015-06-11 12:16:30 -07:00
Erwin Coumans
02fbcd2a05 reorder initializer 2015-06-11 11:48:43 -07:00
erwin coumans
2d79dda032 prepare for joint/torque feedback. First for btRigidBody, then btMultiBody. 2015-06-09 18:13:05 -07:00
erwin coumans
2c3db1c631 Add a "add button" option in the CommonParameterInterface and implement it for Gwen. 
Add some buttons for shared memory requests in the PhysicsClient
 2015-06-09 16:51:55 -07:00
Erwin Coumans
92a612a146 fix in btSoftBodyInternals.h to avoid infinite recursion 'getMargin' 
but call base class instead
 2015-06-05 16:43:17 -07:00